Object based robust and redundant distributed power system control

ABSTRACT

Systems and apparatuses include a first controller structured to control a first power system object located on a first route of a power system, and a second controller structured to control a second power system object located on a second route of the power system. The first controller and the second controller are both structured to perform a route level function including coordination of actions of the first power system object and the second power system object, and the first controller is a principal controller and the second controller is a participant controller.

CROSS REFERENCE TO RELATED APPLICATIONS

This application claims the benefit of priority to U.S. ProvisionalPatent Application No. 62/965,465, filed on Jan. 24, 2020, the entirecontents of which are incorporated by reference herein.

BACKGROUND

The present disclosure relates to power systems. More particularly, thepresent disclosure relates to systems and methods for providingcoordinated control of machines and components within a power system.

SUMMARY

One embodiment relates to an apparatus that includes a circuitstructured to: identify a first source object, a second source object,and a load bus object; determine locations of the first source object,the second source object, and the load bus object on a one-linetopology; receive operational parameters of the first source object, thesecond source object, and the load bus object; define, using theone-line topology, a first route including objects electricallyconnected between the first source object and the load bus object;define, using the one-line topology, a second route including allobjects electrically connected between the second source object and theload bus object; and control operation of the first route and the secondroute.

In some embodiments, the circuit is further structured to generate aroute table including all available routes.

In some embodiments, control of the first route includes selectivelyactivating the first route by controlling closing actions of switchobjects included on the first route, and deactivating the first route bycontrolling opening actions of at least one switch object on the firstroute. In some embodiments, activating the first route includescommunicating with all objects on the first route and coordinatingactivation actions of each object before initiating the closing actionsof the switch objects included on the first route.

In some embodiments, defining the first route includes communicationwith all the objects electrically connected between the first sourceobject and the load bus object to define inclusion on the first routewithin an associated control circuit.

In some embodiments, the circuit is further structured to define, usingthe one-line topology, a third route different from and parallel to thefirst route, and including all objects electrically connected betweenthe first source object and the load bus object along the third route.In some embodiments, the first route defines a first priority value andthe third route defines a second priority value that is higher than thefirst priority value. In some embodiments, the first priority value isproportional to a number of switch objects included in the first routeand the second priority value is proportional to a number of switchobjects included in the third route. In some embodiments, only one ofthe first route and the third route are activated simultaneously duringcontinuous use following a transition time.

In some embodiments, the circuit is further structured to disable thesecond route thereby inhibiting the second route from being activated.

Another embodiment relates to a system that includes a first gensetcontroller associated with a first genset and a first genset switch; asecond genset controller associated with a second genset and a secondgenset switch; a genset branch switch controller associated with agenset branch switch coupled to the first genset switch and the secondgenset switch via a genset branch bus; a utility switch controllerassociated with a utility switch; and a load bus controller associatedwith a load bus coupled to the genset branch switch and the utilityswitch, wherein the system is structured to generate a route tabledefining a first route including the first genset, the first gensetswitch, the genset branch bus, and the genset branch switch, and theload bus, a second route including the second genset, the second gensetswitch, the genset branch bus, the genset branch switch, and the loadbus, and a third route including the utility switch and the load bus.The system selectively activates the first route by communicating withthe first genset controller, the genset branch switch controller, andthe load bus controller. The system selectively activates the secondroute by communicating with the second genset controller, the gensetbranch switch controller, and the load bus controller. The systemselectively activates the third route by communicating with the utilityswitch controller and the load bus controller.

In some embodiments, the load bus controller includes a load bus routingfunction that determines which of the first route, the second route, andthe third route should be activated or deactivated and provides atransition type function to each controller associated with any switchon any route to achieve activation or deactivation. In some embodiments,the first genset controller includes a switch action processing functionstructured to receive the transition type function from the load buscontroller and control operation of the first genset and the firstgenset switch to achieve the activation or deactivation of the firstroute. In some embodiments, the switch action processing function isfurther structured to request activation of a synchronizer function thatadjusts a voltage, frequency, and phase angle of an output of the firstgenset before the first genset switch is closed. In some embodiments,the switch processing function is structured to communicate a switchstate function to the load bus routing function, and a route statefunction is generated by the load bus routing function based on theswitch state function.

Another embodiment relates to a method that includes generating aone-line topology of a power system including source objects, switchobjects, bus objects, and controller objects; populating each objectwith operational parameters; generating a routing table definingavailable routes between source objects and bus objects, each routeincluding all objects electrically connected between a source object anda bus object of the route; and controlling the power system byactivating and deactivating routes.

In some embodiments, operational parameters of each object are selectedfrom a library of object configurations.

In some embodiments, the method also includes generating an active routelist including a list of routes to be activated or deactivated, andcommunicating a transition type to switch objects to control activationor deactivation list of routes.

In some embodiments, the routing table assigns a route ID, an enableattribute, a route priority, and a route path to each route.

In some embodiments, each controller object is allocated to one or moreof the source objects, the switch objects, and the bus objects, to enactcontrol of the power system by activating and deactivating routes.

Another embodiment relates to a non-transitory computer readable mediahaving computer-executable instructions embodied therein that, whenexecuted by a circuit of a power system, causes the power system toperform functions to activate and deactivate routes. The functionsinclude identify a first source object, a second source object, and aload bus object; determine locations of the first source object, thesecond source object, and the load bus object on a one-line topology;receive operational parameters of the first source object, the secondsource object, and the load bus object; define, using the one-linetopology, a first route including objects electrically connected betweenthe first source object and the load bus object; define, using theone-line topology, a second route including all objects electricallyconnected between the second source object and the load bus object; andcontrol operation of the first route and the second route.

Another embodiment relates to a system that includes a first controllerstructured to control a first power system object located on a firstroute of a power system, and a second controller structured to control asecond power system object located on a second route of the powersystem. The first controller and the second controller are bothstructured to perform a route level function including coordination ofactions of the first power system object and the second power systemobject, and the first controller is a principal controller and thesecond controller is a participant controller.

In some embodiments, the participant controller is inhibited fromperforming the route level function.

In some embodiments, the participant controller computes outputs of theroute level function asynchronously from the principal controller andthe outputs of the participant controller are not used to coordinateactions of the first power system object and the second power systemobject.

In some embodiments, the participant controller computes outputs of theroute level function in synchronicity with the principal controller andthe outputs of the participant controller are not used to coordinateactions of the first power system object and the second power systemobject.

In some embodiments, the route level function performed by the principalcontroller receives inputs from the principal controller and theparticipant controller.

In some embodiments, the second controller performs the route levelfunction in the event the first controller is unable to perform theroute level function.

In some embodiments, the first controller defines a first object ID andthe second controller defines a second object ID that defines a highervalue than the first object ID, and the principal controller is selectedbased on a lowest available object ID.

In some embodiments, the system also includes a third controllerstructured to control the first power system object. The thirdcontroller is a redundant controller structured to perform the routelevel function including coordination of actions of the first powersystem object and the second power system object.

In some embodiments, the first power system object is arranged on boththe first route and the second route.

Another embodiment relates to a system that includes a first controllerstructured to control a first power system object located on a firstroute of a power system, and to receive route level inputs and perform aroute level function including coordination of actions of the firstpower system object; and a second controller structured to control asecond power system object located on a second route of the powersystem, and to receive the route level inputs and perform the routelevel function including coordination of actions of the second powersystem object. The route level inputs including information regardingthe first route and the second route, and the route level functionaffects operation of the first route and the second route.

In some embodiments, the first controller is structured to receive onlyroute level inputs related to coordination of actions of the first powersystem object.

In some embodiments, the first controller and the second controllercompute the route level function synchronously or asynchronously.

In some embodiments, the system also includes a third controllerstructured to control the first power system object. The thirdcontroller is a redundant controller structured to perform the routelevel function.

In some embodiments, the first controller is a first genset controllerand the second controller is a second genset controller, and the routelevel function includes a load sharing function. In some embodiments,the first genset controller is structured to: publish a first load valuedata, receive a second load value data from the second gensetcontroller, compute an average load based on the first load value dataand the second load value data, and control power output of the firstpower system object to achieve the average load.

Another embodiment relates to a system that includes a first controllerstructured to control a first power system object of a power system; asecond controller structured to control a second power system object ofthe power system, the first controller and the second controller areboth structured to perform a first route level function that includescoordination of actions of the first power system object and the secondpower system object, and the first controller is a principal controllerand the second controller is a participant controller; a thirdcontroller structured to control a third power system object of thepower system, and to receive route level inputs and perform a secondroute level function including coordination of actions of the thirdpower system object; and a fourth controller structured to control afourth power system object of the power system, and to receive the routelevel inputs and perform the second route level function includingcoordination of actions of the fourth power system object.

In some embodiments, the participant controller is inhibited fromperforming the first route level function.

In some embodiments, the participant controller computes outputs of thefirst route level function asynchronously from the principal controllerand the outputs of the participant controller are not used to coordinateactions of the first power system object and the second power systemobject.

In some embodiments, the participant controller computes outputs of thefirst route level function in synchronicity with the principalcontroller and the outputs of the participant controller are not used tocoordinate actions of the first power system object and the second powersystem object.

In some embodiments, the system also includes a redundant controllerstructured to perform at least one of the first route level function orthe second route level function.

In some embodiments, any of the first controller, the second controller,the third controller, or the fourth controller can be structured on ashared circuit.

Another embodiment relates to a non-transitory computer readable mediahaving computer-executable instructions embodied therein that, whenexecuted by a first controller, a second controller, a third controller,and a fourth controller of a power system, causes the power system toperform functions to activate and deactivate routes. The functionsinclude controlling a first power system object of the power system withthe first controller; controlling a second power system object of thepower system with the second controller; performing a first route levelfunction that includes coordination of actions of the first power systemobject and the second power system object with the first controller andthe second controller, wherein the first controller is a principalcontroller and the second controller is a participant controller;controlling a third power system object of the power system with thethird controller, receiving route level inputs with the thirdcontroller; performing a second route level function includingcoordination of actions of the third power system object with the thirdcontroller; controlling a fourth power system object of the power systemwith the fourth controller; receiving the route level inputs with thefourth controller; and performing the second route level functionincluding coordination of actions of the fourth power system object withthe fourth controller.

Another embodiment relates to a non-transitory computer readable mediahaving computer-executable instructions embodied therein that, whenexecuted by a circuit of a power system, causes the power system toperform functions to activate and deactivate routes. The functionsinclude determining a plurality of source objects, each including sourcefunctions and being assigned a position on a one-line topology;determining one or more switch objects, each including switch functionsand being assigned a position on the one-line topology; determining oneor more bus objects, each including bus functions and being assigned aposition on the one-line topology; determining one or more load objects,each including load functions and being assigned a position on theone-line topology; and allocating each object to one of a plurality ofcontrollers, each of the controllers structured to cooperatively performthe source functions, the switch functions, the bus functions, and theload functions to provide operation of the system.

In some embodiments, the source functions comprise one or more of: asource state function, a capacity manager function, a synchronizerfunction, a load sharing function, a source selection function, a sourceprioritization function, and a grid paralleling function. The switchfunctions comprise one or more of: a switch state function, a synchcheck function, and a switch action processing function. The busfunctions comprise one or more of: a bus state function, a routerfunction, a system routing table function, a route state function, and adead bus access function. The load functions comprise one or more of: aload state function, a load decay function, a load add/shed function,and a sensitive load disconnect function.

In some embodiments, the functions also include determining one or moretransformer objects, each including transformer functions and beingassigned a position on the one-line topology.

In some embodiments, each of the source functions, the switch functions,the bus functions, and the load functions includes a list of availablealgorithms, and the plurality of controllers utilize a subset of thelist of available algorithms based on object type and location on theone-line topology. In some embodiments, the subset includes allavailable algorithms.

In some embodiments, each function is configured to define operation ofthe associated object within the one-line topology.

In some embodiments, the plurality of controllers are structured toexecute the source functions, the switch functions, the bus functions,and the load functions using software that is common to each of theplurality of controllers.

In some embodiments, each function is configured automatically based onspecifications of the object and the location on the one-line topology.

Another embodiment relates to a system that includes a one-line topologyincluding: a source object including a source state function and asynchronizer function; a bus object including a bus state function, aroute state function, a router function, and a routing table function; aswitch object including a switch state function and a switch actionprocessing function; and a load object including a load state functionand a load add/shed function; and a route control system including arouter function structured to activate and deactivate routes on theone-line topology via coordination with the source object, the busobject, the switch object, and the load object.

In some embodiments, the source state function identifies a currentoperating state of the source object, the synchronizer function isstructured to control frequency, voltage, and phase difference of thesource object, and the router function activates and deactivates routesbased at least in part on the source state function.

In some embodiments, the bus state function determines an electricalstate of the bus object and outputs of the bus state function areprovided to the switch action processing function and the load add/shedfunction, the route state function identifies a state of each availableroute so that routes can be activated or deactivated, the routing tablefunction defines the available routes present on the one-line topology,and the router function activates and deactivates routes based at leastin part on the bus state function, the route state function, and therouting table.

In some embodiments, the switch state function identifies the positionof the switch object, the switch action processing function controls theactuation of a switch object, and the router function providesinstructions to the switch action processing function based at least inpart on the switch state function to enact activation and deactivationof routes.

In some embodiments, the load state function identifies the state of theload object as energized, power failure, dead, or decaying, the loadadd/shed function determines if a load demand is high or low compared toan available power supply, and the router function activates anddeactivates routes based at least in part on the load state function andthe load add/shed function.

In some embodiments, the source object, the bus object, the switchobject, and the load object exist as virtual objects on the one-linetopology and parameters of the source object, the bus object, the switchobject, and the load object can be entered via a user interface.

In some embodiments, the route control system includes one of a floatingprincipal control scheme and a fully distributed control scheme.

Another embodiment relates to a method that includes identifyingmachines in a power system on a one-line topology; generating objects ina route level control system, each object associated with an identifiedmachine; populating parameters of each object, wherein the parametersinclude operational requirements of the associated machine; locatingeach object on the one-line topology; defining routes electricallyconnecting objects; and controlling operation of the machines byactivating and deactivating routes. The activation and deactivation ofroutes is achieved in accordance with the populated parameters of theobjects.

In some embodiments, each object includes functions defining operationof the object within the one-line topology. In some embodiments, theobjects are selected for object types comprising source objects,transformer objects, bus objects, switch objects, and load objects. Insome embodiments, generating objects in the route level control systemincludes selecting objects and populating the one-line topology with asoftware tool.

In some embodiments, generating objects further includes selectingobjects from an object palette library within the software tool.

In some embodiments, the route level control system includes a pluralityof controllers associated with objects, and controlling operationincludes coordinating functions of the objects using one of a floatingprincipal control scheme and a fully distributed control scheme betweenthe plurality of controllers.

This summary is illustrative only and is not intended to be in any waylimiting. Other aspects, inventive features, and advantages of thedevices or processes described herein will become apparent in thedetailed description set forth herein, taken in conjunction with theaccompanying figures, wherein like reference numerals refer to likeelements.

BRIEF DESCRIPTION OF THE FIGURES

FIG. 1 is a schematic diagram of a power system according to someembodiments.

FIG. 2 is an object table associated with the power system of FIG. 1according to some embodiments.

FIG. 3 is a schematic diagram of object functions associated with thepower system of FIG. 1 according to some embodiments.

FIG. 4 is a schematic diagram of a power system according to someembodiments.

FIG. 5 is an object table associated with the power system of FIG. 4according to some embodiments.

FIG. 6 is a route table associated with the power system of FIG. 4according to some embodiments.

FIG. 7 is a schematic diagram of a power system according to someembodiments.

FIG. 8 is a route table associated with the power system of FIG. 7according to some embodiments.

FIG. 9 is a functional logic map associated with the power system ofFIG. 7 according to some embodiments.

FIG. 10 is a schematic diagram of a controller according to someembodiments.

FIG. 11 is a schematic diagram of a power system according to someembodiments.

FIG. 12 is an allocation table associated with the power system of FIG.11 according to some embodiments.

FIG. 13 is a schematic diagram of a power system according to someembodiments.

FIG. 14 is a schematic diagram of a power system according to someembodiments.

FIG. 15 is a schematic diagram of a power system according to someembodiments.

FIG. 16 is an allocation table associated with the power systems ofFIGS. 13-15 according to some embodiments.

FIG. 17 is a schematic diagram of a power system according to someembodiments.

FIG. 18 is an allocation table associated with the power system of FIG.17 according to some embodiments.

FIG. 19 is a schematic diagram of a centralized control scheme accordingto some embodiments.

FIG. 20 is a schematic diagram of a centralized control with redundantcontroller scheme according to some embodiments.

FIG. 21 is a schematic diagram of a floating principal control schemeaccording to some embodiments.

FIG. 22 is a schematic diagram of the floating principal control schemeof FIG. 21 according to some embodiments.

FIG. 23 is a schematic diagram of a fully distributed control schemeaccording to some embodiments.

FIG. 24 is a schematic diagram of the fully distributed control schemeof FIG. 23 according to some embodiments.

FIG. 25 is a schematic diagram of a redundant controllers floatingprincipal scheme according to some embodiments.

DETAILED DESCRIPTION

Following below are more detailed descriptions of various conceptsrelated to, and implementations of, methods, apparatuses, and systemsfor power routing. Before turning to the figures, which illustratecertain exemplary embodiments in detail, it should be understood thatthe present disclosure is not limited to the details or methodology setforth in the description or illustrated in the figures. It should alsobe understood that the terminology used herein is for the purpose ofdescription only and should not be regarded as limiting.

As utilized herein, the term “power system topology” means theinterconnection map of power sources, power switches, and loads for aspecific power system. As utilized herein, the terms “single linediagram”, “one-line diagram”, or “one-line topology” means a simplifiedrepresentation of a power system topology.

Referring to the figures generally, the various embodiments disclosedherein relate to systems, apparatuses, and methods for power routing anddistribution. Some embodiments aim to improve existing power systemcontrol schemes with systems, apparatuses, and methods structured tosequence and connect, disconnect, and transition sources to load bussesfor any arbitrary power system topology. Some embodiments controlstructures for connecting and disconnecting specific load circuits. Ingeneral, embodiments discussed herein identify components of a powersystem as objects within a system architecture. For example, a powersystem may include source objects (e.g., a grid power connectionprovided by a utility company, a generator set, a solar array, a batterybank, etc.), bus objects (e.g., source buses, load buses, distributionbuses, etc.), transformer objects (e.g., a passive power transformer),switch objects (e.g., automatic transfer switches (ATS), load switches,source switches, circuit breakers, etc.), and controller objects (e.g.,source controllers, load bus controllers, switch controllers, etc.).Each object is assigned an individual object identifier and insertedinto a system architecture that can be represented with a one-linetopology. Routes are then defined between each source and each loaddefined on the one-line topology to establish potential routes for powertransfer from sources to loads. For example, in some systemarchitectures, more than one route may be available to provide powerfrom one source to a given load. Each route is assigned an individualroute identifier. Each object is then assigned or allocated to acontroller. Typically, an object will be assigned to an adjacentcontroller. For example, a genset controller coupled to and controllinga generator set source object may also be allocated to control a sourcebus. One each object is allocated to a controller, the power system cancontrol operation of the objects using a centralized controller incommunication with each individual controller object, or a distributedcontrol scheme. For example, a floating principal control scheme can beused wherein one controller object within the power system is acting asa centralized control for a particular task, but the individualcontroller object that is acting as the centralized control changesdepending on the task required by the power system. In otherembodiments, a fully distributed control scheme is employed wherein allcontroller objects that perform a particular system function are equals.One characteristic that makes them fully distributed is that eachcontroller determines its own action to take, rather than determiningaction for others (as in the case of a principal in the floatingprincipal control scheme). In both the floating principal control schemeand the fully distributed control scheme, redundancy is provided in thesystem because more than one controller object is capable of operatingthe functions of the power system.

The object based system architecture allows the design, implementationor commissioning, and operation of the power system to be simplified.Each object is recognized by each controller and is customized withattributes or parameters. This allows each controller to recognize whatit is connected to or what route each object lives on, and how eachobject affects that route. The ability to build one-line topology basedsystems and control using object based routes improves the efficiency ofdesign and construction while providing a more robust control scheme.

As shown in FIG. 1 , a simple power system 30 includes a utility 34 thatprovides grid power (e.g., provides alternating current (AC)) connectedto a utility source bus 38, and a generator set (genset) 42 thatprovides AC power to a genset bus 46. The utility source bus 38 isconnected to a utility source switch 50 and the genset bus 46 isconnected to a genset switch 54. In some embodiments, the utility sourceswitch 50 and the genset switch 54 are incorporated in an automatictransfer switch (ATS) connected to a load bus 62. The automatic transferswitch can be arranged or structured to provide power from one of theutility bus 38 or the genset bus 46 to the load bus 62. A load 58 isconnected to the load bus 62 are structured to consumer power providedby the utility 34 or the genset 42.

In general, the power system 30 operates by drawing power to the load 58from the utility 34. In the event of a power disruption to the utility34, the ATS including the utility switch 50 and the genset switch 54 canactuate and connect the load to the genset 42.

The power system 30 includes a genset controller 66 and a switchcontroller 70. The genset controller 66 is primarily associated with thegenset 42 and controls the operation of the genset 42. The switchcontroller 70 is primarily associated with the ATS including the utilityswitch 50 and the genset switch 54.

Section 1—Objects

As shown in FIG. 2 , the components of the power system 30 areidentified as objects. Power systems generally include five objecttypes: source objects, bus objects, switch objects, load objects, andtransformer objects. The power system 30 does not include a transformerobject, but other power systems described later within this document doinclude transformer objects. Within the power system 30, each componentis identified with an object ID, an object name, an object type, and anobject subtype. The object ID and object name are used by thecontrollers (e.g., genset controller 66 and switch controller 70) toidentify components. The object type defines what parameters of theobject are configurable.

Each object type has its responsibilities (functions) in the operationof the power system 30. Each object type also has attributes that defineits identity and ratings. Note that most objects, but not all, aremachines in the power system 30. Utility source bus 38, the gensetsource bus 46, and the load bus 62 are bus object types and areimportant in the operation and coordination of the power system 30, butthey are not technically machines. The power system 30 itself may alsobe considered as an object, as well as a controller (e.g., the gensetcontroller 66 and the switch controller 70). An object type becomes acontainer for functionality that the object type owns.

As shown in FIG. 3 , each instance of an object type can include anumber of functions, parameters, or attributes that can be customized torepresent the operation of the individual object within a power system(e.g., the power system 30). In other words, a power system 74 isabstracted to be composed of the following object types: sources 78,busses 82, switches 86, loads 90, transformers 94, and additionallycontrollers (not shown in FIG. 3 ) and the power system 74 itself.According to embodiments disclosed herein, power systems can be arrangedas a collection of object instances; one instance for each occurrence ofthat type of object. Each object type is a container for a superset ofsystem control functions tied to that object type. The set of functionscontained by an object type are always the same implementation (e.g.,software code) regardless of where the object instance is in the powersystem. The behavior of an individual object instance is modified onlythrough configuration setting changes, not through new software code(e.g. ‘C’ code).

Object instances get distributed to the controllers around the systemtypically based on what the controllers are physically connected to.This enables functional abstraction from any particular controllerimplementation or specific installation controller topology. That is,the objects and functions are largely decoupled from the controller(s)they will live/run on. For example, a genset controller (e.g., thegenset controller 66) may control the functions of an associated genset(e.g., the genset 42) by controlling fueling, aftertreatment, etc. butthe genset controller may also control functions of other objects, andother controllers may impact the operation of the genset controller.Each controller is capable of running multiple instances of thedifferent object types. The objects and their functions all communicatewith each other via a common global dataspace. A system-wide global dataspace can be created by a networking technology and protocol such as DDSon Ethernet. Thus, the functions in each object instance will act inconcert with the other object types to accomplish the system control andsequencing needs to operate the power system.

This differs from a conventional power system control. A conventionalpower system typically relies on a centralized controller running powersystem control functionality which was custom developed/programmed for aspecific customer site installation. Object based distributed controlprovides an opportunity for a more flexible installation while providinga robust control environment and reducing overall system complicationand required customization.

Below, object specific functions are discussed with respect to FIG. 3 .The functions associated with specific object types is exemplary. Otherfunctions may be associated with the object types, including additionalparameters, customizable settings, etc. Additionally, some functions maybe eliminated from object types, or may be included in different objecttypes than shown in FIG. 3 .

Section 1.1—Source Objects

Each source object 78 within the power system 74 (e.g., the utility 34and the genset 42) defines seven source functions including: sourcestate 98, capacity manager 102, synchronizer 106, load sharing 110,source selection 114, source prioritization 118, and grid parallelingcontrol 122 functions. In some embodiments, more functions or lessfunctions may be included with each source object. In some embodiments,unused functions may be nulled within a control scheme, or customfunctions may be added.

The source state function 98 identifies the current operating state ofthe source object. A source object needs to make known its currentoperating state for source selection and other functions to work. Notethat the source state function 98 is used by the power system controlscheme, and is not necessarily indicative of or used by the localmachine control functions. For example, the genset 42 may be operatingin a diagnostic state and still actively operational, but it is notavailable to provide power as a source to the power system 30. Thesource state function 98, would then identify the genset 42 asunavailable, even though it is currently operating. in some embodiments,to fully support abstraction of the source object within the largercontrol scheme of the power system 30, the source states should begeneric regardless of the type of source. For example, the source objectmay include a superset of a source states, and a subset of source statesis selected based on the specifics of the source object (e.g., a firstsubset of source states for genset and a second subset of source statesfor a utility). Sources also have other dynamic information that theyshare with the power system control functions (e.g. current capacity,load, etc.) as part of their “state” information. In some embodiments,the source state function 98 includes information indicative of whetherthe source ready to be called up if it is needed, whether the source isavailable based on the sensors and has it had time to stabilize, whetheror not the source has failed, and/or if the source is disabled (e.g. dueto a shutdown fault or not in automatic mode).

The capacity manager function 102 provides a dynamic model of availablecapacity within the power system 30. Continuous management of the onlinecapacity is important. The required power capacity drives the decisionof how many sources (in priority order) are connected to the load busobjects (e.g., the load bus 62). There must be enough capacity online tonot only support the current loads, but also to accept additional loadswithout overloading the power system 30 before additional sources (ifavailable) could be brought online. For critical applications, there mayalso need to be extra source(s) online to cover for the unexpectedsudden loss of a source. Inputs to the decision to add sources or removesources include:

-   -   What are the individual source capacities? Some source objects        may be dynamic such as a battery, a solar array, or wind        sources.    -   What is the current online total capacity?    -   What is the current total load?    -   What is the current online reserve capacity (total        capacity−load)?    -   What is the desired level of reserve capacity?    -   Does there need to be protection against unexpected loss of any        one source? Two source?    -   If grid connected, what are the grid power setpoints?    -   Is there a notification of a significant load step coming? How        much is that load?    -   Is there a notification of a significant loss of source capacity        coming (e.g. source derate, solar influx reduction, wind speed        decrease, or battery discharge limits)?    -   Does a source need to be intentionally taken offline (e.g. for        service)?    -   If this is a black start, how much capacity should be brought on        initially? All? Selected sources?

The synchronizer function 106 provides parameter and status ofsynchronization of a source object. Traditionally, a genset controllersynchronizes itself to the bus it connects to or to another singlesource such as a utility. The single genset controller makes all thesensing measurements to accomplish this. With a distributed power systemcontrol scheme supporting a variety of one-line topologies orconfigurations and source types, this function becomes a service capableof synchronizing a single or multiple gensets to any sensed point in thepower system. The synchronizer function 106 allows for communication ofsynchronization parameters between controllers within the power system30 to allow for cohesive synchronization and distributed control. Thatis, sensing and initiation of synchronization can occur on othercontrollers. Additionally, the synchronizer function 106 identifies ifthe source object is capable of synchronizing. The system needs to knowwhich sources can be called upon to synchronize for purposes ofparalleling that source to a live bus. Synchronizing could include anyabilities to match frequency, match a frequency offset, match voltage,or match phase. It may not include all.

The load sharing function 110 identifies if the source object is capableof maintaining nominal voltage and frequency while dividing the loadamongst other load sharing sources. Typically the source object mustalso be capable of being a grid former in order to be used in loadsharing.

The source selection function 114 brings together the sourceprioritization, source state, and power capacity management informationto output the list of sources that should be online. If a source needsto change, the process of bringing it online or offline is then handledby other downstream functions (e.g., a routing and sequencing controlassociated with the bus objects).

The source prioritization function 118 provides a listed priority orderfor the available source objects. All sources have an active prioritynumber assignment that is used to determine what order they should becalled upon depending on the state of other sources and how much loadthere is. This priority number may be dynamic, or it could be static.The priority assignment comes from what the current objectives are foroperation of the power system. For some objectives, the control systemcan calculate the prioritization. For other more complexobjectives/calculations, an external optimization algorithm (e.g. acloud or edge computing device) may set the source prioritization. Somepossible locally managed objectives include:

-   -   Run the system to maximize the contribution from renewable        sources.    -   Run the system so that machines do not come up for service all        at the same time.    -   Run the system so that all machines keep an approximately equal        amount of wear-and-tear.    -   Run the system to maximize the life of the assets.    -   Run the system to minimize operating expenses.    -   Run the system based on dynamic prioritization set by an        external optimization algorithm.

The grid paralleling control function 122 identifies which source typescan be operated in parallel with other source object types or subtypes.For a given power system, limitations are often placed on which sourcescan operate in parallel with one another and for how long. To solve thegeneric problem for any power system, an N{circumflex over ( )}2 matrixof sources is needed to be able to configure the allowed combinations.For example, the grid paralleling function for a source object maydefine one or more of the following options: OT=Open Transition;HCT=Hard Closed Transition (<100 msec overlap); SCT=Soft ClosedTransition (limited by Max Parallel Time); All=all modes allowed; orEP=Extended Parallel (no time limit).

Section 1.2—Bus Objects

Each bus object 82 within the power system 30 (e.g., the utility sourcebus 38, the genset source bus 46, and the load bus 62) defines five busfunctions including: bus state 126, route state 130, router 134, deadbus access 138, and system routing table 142 functions. In someembodiments, more functions or less functions may be included with eachbus object. In some embodiments, unused functions may be nulled within acontrol scheme, or custom functions may be added.

The bus state function 126 of any bus object 82 is needed by switchcontrol logic as well as other functions such as load add/shed. Theelectrical state of each bus object 82 is determined by a bus statealgorithm. Possible bus states include: available, failed, dead, ordecaying. A load bus router function can use the bus state as part ofdetermining a transition type. A switch action processing function canuse the bus state in order to determine whether or not closing a switchobject can be considered.

The route state function 130 identifies routes that power can flowthrough the power system 30 from sources to loads. The route statefunction 130 identifies the state or health of each available route sothat routes can be activated or deactivated. Possible states include:unknown, disconnected, unable to disconnect, connected, and/or unable toconnect. The state of each route is determined by a route statealgorithm. The route state can be used by the load bus router to selectviable routes. If a route is unable to connect, the load bus router canchoose the next highest priority route (if one is available).

One core concept of the power system 30 is a sequencing control conceptthat identifies routes connecting load busses and sources and activatesand/or deactivates the routes by controlling the switches between closedor open states. The switch logic (e.g., stored in the switch controller70) takes care of getting the switch (e.g., the utility switch 50 andthe genset switch 54) safely closed (e.g., via the synchronizer servicerequest, the sync check, the dead bus close, etc.). The router function134 decides which routes to activate or deactivate based on the currentsource selections. The router function 134 also determines what type oftransition (e.g., open transition, closed transition, etc.) is occurringand may be involved in sequencing of the transition. The router function134 is shown as being owned by a load bus object 82. In someembodiments, the router function 134 can operate as a floating principalfunction that could run in multiple controllers or be associated withmultiple different object types for redundancy. The router function 134acts between load buses and sources. In power systems where a load bushas individual load feeders below it, a distributed load add/shedfeature will separately take care of managing the connecting anddisconnecting of the load circuits. Additionally, in some embodiments,the loads themselves will be connected and disconnected via the routerfunction.

In some embodiments, a source object 78 or a load object 90 can requesta route hold to maintain a particular route in the connected state. Ifno other higher priority reasons exist to deactivate that route, it willbe granted and remain held active until the load object 90 or sourceobject 78 indicate it is no longer needed. A source object 78 canrequest a route hold to insure a minimum length of run time with load toprevent adverse life/maintenance effects, for example. A load object 90can request a route hold to insure it remains powered continuously forsome minimum amount of time to recharge UPS batteries, for example. Aload object 90 can also request a route hold if the power system isconfigured to require manual intervention for a retransfer.

The dead bus access function 138 (alternatively called First Start) actsto close a single live source object 78 (e.g., the genset 42) to a deadbus while inhibiting all other source objects 78 (e.g., all othergensets) from closing to that dead bus. With a distributed power systemcontrol scheme supporting a variety of one-line topologies orconfigurations and source types, the dead bus access function 138 can bemade generic and acts as a service for anywhere in the power system 74that a switch/breaker OBJECT 86 needs to be closed between either a liveand dead side, or even two dead sides. The dead bus access function 138acts to coordinate and arbitrate the closure of a single live source toenergize a dead bus while blocking all other live sources from closingto that bus until the operation is complete. Fall backs in the event offailure scenarios can also be included.

The system routing table function 142 defines the available routespresented on the one-line topology. The system routing table function142 lists all possible connection paths between load bus objects 82 andindividual source objects 78. The system routing table function 142provides a routing table for getting power from source objects 78 toload bus objects 82 and is used by load bus routers. The system routingtable function 142 can be programmed into all controllers, or a subsetof controllers, on the power system 74 by a tool including a userinterface. Ideally, the tool would have a graphical interface and alibrary of system objects that can be used to draw a one-line topology.The tool can then automatically compute the routing table.

Section 1.3—Switch Objects

Each switch object 86 within the power system 74 (e.g., the utilityswitch 50 and the genset switch 54) defines three switch functionsincluding: switch state 146, synch check 150, and switch actionprocessing 154 functions. In some embodiments, more functions or lessfunctions may be included with each switch object 86. In someembodiments, unused functions may be nulled within a control scheme, orcustom functions may be added.

The switch state function 146 identifies the position of the switchobject 86, the position of main contacts of the switch object 86, if theswitch object 86 is being serviced, switch failure, if a close action ispending, and/or if the switch object 86 is inhibited from closing.

The synch check function 150 enables closing of two live source objects78 by looking to see that voltages, frequency, and phase angles arematched to a level which is safe for the equipment (e.g.,mechanical/electrical stresses) and will not produce unacceptable powerdisturbances. The synch check function 150 is typically executed usingmeasurements of both source objects 78 made at a single controller. Thiscan be a fully local function in an associated controller that hassensing access or visibility on each side of a connected switch object86.

The switch action processing function 154 controls the actuation of aswitch object 86. Based on the system routing table function 142, aswitch object 86 is opened, closed, or does nothing based on the switchaction processing function 154. The switch action processing function154 also initiates follow-on actions such as the sync check function ordead bus access functions 138 for closing or waiting for a ramp unloadto complete to enable opening. Additionally, the switch actionprocessing function 154 monitors bus spare capacity by calculating theavailable capacity on a bus object 82 (e.g., the difference between thesource capacity ratings and how much load is currently on the bus). Busspare capacity can be used to decide if a pending close is allowed tooccur. If there is not enough spare capacity on the upstream side of theswitch object 86 to support the loads on the downstream side, the switchwill not close. Some scenarios under which it applies are at any switchobject 86 that if closed will energize dead loads.

Section 1.4—Load Objects

Each load object 90 within the power system 74 (e.g., the load 58)defines four load functions including: load state 158, load decay 162,load add/shed 166, and sensitive load disconnect 170 functions. In someembodiments, more functions or less functions may be included with eachload object 90. In some embodiments, unused functions may be nulledwithin a control scheme, or custom functions may be added.

The load state function 158 identifies the state of the load object 90as energized, power failure, dead, or decaying, and determines all loadobjects 90 connected to a common or shared bus object 82. Once the loadstate function 158 determines which load objects 90 are connected, thecurrent state of all connected load objects 90 is determined.

The load decay function 162 determines when load objects 90 have beenunpowered and disconnected from a source long enough to allow it to bereconnected to a live source. For example, it allows time for motorloads to stop spinning before re-energizing them so as to avoidundesirable operation/equipment stresses.

The load add/shed function 166 may work with the load decay function 162to determine if load demands are high or low compared to the availablepower supply (i.e., from the connected source objects 78) and connect ordisconnect current on common bus object 82 accordingly. The loadadd/shed function 166 works to add (i.e., connect) load circuits ascapacity allows, and shed (i.e., disconnect) load circuits when thesystem capacity is overloaded. The load add/shed function 166 may be anindependent function, or may make use of the router function 134.

The sensitive load disconnect function 170 provides control for caseswhere a sensitive load is connected directly on a load bus object 82. Insensitive load object 90 scenarios, the sensitive load disconnectfunction 170 communicates with an upstream switch object 86 to controlopen, close and other actions to provide control to the sensitive loadobject 90. In other words, if a load circuit has a sensitive loaddesignation, that circuit will disconnect (i.e., open) immediately upondetection of a power failure rather than remain connected to apotentially only partially failed source such as a brownout, or singlephasing situation.

Section 1.5—Transformer Objects

Each transformer object 94 within the power system 74 defines fourtransformer functions including: ratio 174, winding type 178, X/R ratio182, and rating 186 functions. In some embodiments, more functions orless functions may be included with each transformer object 94. In someembodiments, unused functions may be nulled within a control scheme, orcustom functions may be added. The transformer object 94 may beresponsible for determining and communicating its current state. In manyembodiments, a transformer object 94 will not have any direct controlactions. The power system performance will benefit by knowing thelocation (electrically) of the transformer object 94, and itsspecifications. For example, synchronizing/sync check may want to knowabout it for delta/wye 30 deg shifts. Transformer type specificationwill make determination of +30 or −30 automatic. It would also want toknow the transformer ratio function 174 for voltage matching. Power flowmanagement may want to know about its X/R ratio function 182 to betterbalance load sharing if there are different X/R's in the source paths.

Section 2—System Architectures

The object based abstraction discussed above can be applied to any powersystem architecture. FIG. 4 shows a power system 190 that includes morecomponents/objects than the power system 30 shown in FIG. 1 . The objectID, object name, object type, and object subtype for each object in thepower system 190 are shown in FIG. 5 . The power system 190 includesfour source objects including a utility 194, a first genset 198, asecond genset 202, and a third genset 206.

The power system 190 includes nine switch objects. Five switch objectsare source switches and include a utility switch 210 connected to theutility 194, a first genset switch 214 connected to the first genset198, a second genset switch 218 connected to the second genset 202, athird genset switch 222 connected to the third genset 206, and a gensetbranch switch 226 coupled to each of the first genset 198, the secondgenset 202, and the third genset 206. Four switch objects are loadswitches and include a first load switch 230, a second load switch 234,a third load switch 238, and a fourth load switch 242.

A transformer object 246 is connected between the third generator switch222 and the genset branch switch 226. In some embodiments, the powersystem 190 can include more than one transformer object.

The power system 190 includes 11 bus objects. A genset branch bus 250 isconnected between the first genset switch 214, the second genset switch218, the transformer 246, and the genset branch switch 226; atransformer bus 254 is connected between the third genset switch 222 andthe transformer 246; a load branch bus 258 is connected between theutility switch 210 and the genset branch switch 226, and the first loadswitch 230, the second load switch 234, the third load switch 238, andthe fourth load switch 242; utility bus 262 is connected between theutility 194 and the utility switch 210; a first genset bus 266 isconnected between the first genset 198 and the first genset switch 214;a second genset bus 270 is connected between the second genset 202 andthe second genset switch 218; a third genset bus 274 is connectedbetween the third genset 206 and the third genset switch 222; a firstload bus 278 is connected between a first load and the first load switch230; a second load bus 282 is connected between a second load and thesecond load switch 234; a third load bus 286 is connected between athird load and the third load switch 238; and a fourth load bus 290 isconnected between a fourth load and the fourth load switch 242.

The power system 190 also includes six controller objects including afirst genset controller 294, a second genset controller 298, a thirdgenset controller 302, a utility switch controller 306, a genset branchswitch controller 310, and a load branch controller 314. The control ofall objects within the power system 190 is achieved with the controllerobjects and the functions of each object type are assigned to particularcontrollers as described in more detail below. The coordination andexecution of object functions can be performed via a distributed controlscheme utilizing all or some of the controller objects. Distributedcontrol schemes will also be discussed in further detail below.

Each of the objects in power system 190 can be configured using settingswithin the controllers to represent the real world machines and bussesfunctionality. This allows the power system 190 to be controlledaccurately using settings and configuration designed around a one-linetopology rather than requiring a custom programmed control system.

Section 3—Routes

The power system 190 includes a number of interconnected objects andprovide pathways or routes that power can flow from source objects toload objects. As shown in FIG. 6 , the system routing table (e.g., ascreated by the system routing table function 142 of the bus objects)lists all possible routes between load busses and individual sources fora given power system. An enable attribute is a configuration to allow aroute to be disabled. The route ID attribute is a combination of theload bus identifier and the source identifier. A route priority is aconfiguration used when there is more than one route to a source from aload bus. It may have a default value derived from the number ofswitches on the route, but be changeable by the user. For example, themore switches, the lower the priority.

The system routing table provides information to the load bus router sothat it knows what the routes are that go to the various sources (so itknows which routes to activate to get the desired sources connected). Itis also used by switch action processing so that a switch can know whichroutes it “lives” on so that it can respond appropriately to an activeroute list generated by the router function.

The power system 190 shown in FIG. 4 defines four available routes anddepicted in FIG. 6 . These routes define all the available powerpathways to provide power to the load branch bus 258 from the availablesource objects. All routes in FIG. 6 are shown as enabled (Y), but insome embodiments, a route may be disabled (N) in the event that a sourceobject is offline (e.g., an interruption has occurred in the utility194). A first route 320 is given a route ID LB1.G1, a route priority of1, and defines a route path of LB1-SW4-B1-SWG1-G1. The route ID cangenerally indicate a point-to-point route (e.g., LB1.G1 indicates thatthe route connects the first genset 198 and the load branch bus 258) oruse another naming standard as desired. The route priority is set to 1because multiple routes between a source and a load are not possible inthe power system 190. The route path of the first route 320 defines thatpower flows from the first genset 198, through the first genset switch214, the genset branch bus 250, the genset branch switch 226, and ontothe load branch bus 258.

A second route 324 is given route ID LB1.G2 indicating that power flowsgenerally from the second genset 202 to the load branch bus 258. Theroute is enabled, and has a priority of 1. The route path isLB1-SW4-B1-SWG2-G2 indicating that power flows from the second genset202, through the second genset switch 218, the genset branch bus 250,the genset branch switch 226, and onto the load branch bus 258.

A third route 328 is given route ID LB1.G3 indicating that power flowsgenerally from the third genset 206 to the load branch bus 258. Theroute is enabled, and has a priority of 1. The route path isLB1-SW4-B1-SWG3-G3 indicating that power flows from the third genset206, through the third genset switch 222, the genset branch bus 250, thegenset branch switch 226, and onto the load branch bus 258. Asillustrated by the third route path, passive objects such as thetransformer 246 may be excluded from the route path. In someembodiments, passive objects, or all objects, may be included in theroute path definition.

A fourth route 332 is given route ID LB1.U1 indicating that power flowsgenerally from the utility 194 to the load branch bus 258. The route isenabled, and has a priority of 1. The route path is LB1-SWU1-U1indicating that power flows from the utility 194, through the utilityswitch 210, and onto the load branch bus 258.

Therefore, the route table for the power system 190 includes fourpossible routes, the first route 320, the second route 324, the thirdroute 328, and the fourth route 332. The control system of the powersystem 190, including the first genset controller 294, the second gensetcontroller 298, the third genset controller 302, the utility switchcontroller 306, the genset branch switch controller 310, and the loadbranch controller 314 utilizes the route table to efficiently controlall objects residing on a various route, producing desirable results.For example, if the utility 194 were taken offline, the power system 190can recognize a need for more power and activate any of the first route320, the second route 324, and the third route 328 to produce power. Theactivation of route paths provides an automated and coordinated solutionto actuating or controlling all the objects that reside on the activatedroute path.

To further demonstrate the routing table concept, a complex power system336 is shown in a one-line topology in FIG. 7 and includes a firstutility 340 and a second utility 344 which may be grid based orotherwise provided power sources from an external source (e.g., a powerplant). The power system 336 also includes a first genset 348, a secondgenset 352, and a third genset 356. In some embodiments, the gensets arediesel powered or powered by an internal combustion engine burninganother fuel type. The power system 336 also includes a solar array orsolar station 360 and a battery bank 364. Other power sources such aswind, or hydropower and any other power sources may be connected topower systems contemplated herein. The power system 336 includes sevensource objects. In some embodiments, more than seven or less than sevensource objects are included.

The power system 336 also includes seven corresponding source switchesincluding a first utility switch 368 selectively coupling the firstutility 340, a second utility switch 372 selectively coupling the secondutility 344, a first genset switch 376 selectively coupling the firstgenset 348, a second genset switch 380 selectively coupling the secondgenset 352, a third genset switch 384 selectively coupling the thirdgenset 356, a solar switch 388 selectively coupling the solar station360, and a battery switch 392 selectively coupling the battery bank 364.

A genset branch bus 393 is structured in communication with the firstgenset 348 via first genset switch 376, the second genset 352 via thesecond genset switch 380, and the third genset 356 via third gensetswitch 384 and a transformer 394. The genset switches 376, 380, 384provide selective coupling genset source objects with the genset branchbus 393.

The genset branch bus 393 is structured in selective communication witha first load bus 396 via a first genset branch switch 398, and a secondload bus 400 via a second genset branch switch 402. A load bus switch404 provides selective communication (i.e., connection) between thefirst load bus 396 and the second load bus 400.

Four load switches 408, 412, 416, 420 are connected to the first loadbus 396 and selectively provide power to four corresponding loads. Fourload switches 424, 428, 432, 436 are connected to the second load bus400 and selectively provide power to four corresponding loads. Whilefour loads are shown coupled to each load bus, more than four or lessthan four loads are contemplated. Each of the loads may include a singlepower consumer, or may include a system of loads (e.g., a microgrid fedby the power system 336).

Each of the objects defined on the one-line topology shown in FIG. 7would be assigned attributes or parameters as discussed above when theobject is added to the one-line topology so that the functionality ofthe object is known within the power system 336. An object table wouldbe generated providing object names (e.g., the first genset 348 is namedSi, etc.) and parameter lists. Additionally, the power system 336includes controllers associated with various objects to provideactuation and control of components.

The power system 336 includes more route dynamics than the power system190 shown in FIG. 4 . The power system 336 defines twenty-four (24)discrete routes shown in FIG. 8 . Eleven of the routes are shown in FIG.7 connecting the first load bus 396. The routes connecting the secondload bus 400 are not shown to provide better clarity within FIG. 7 . Theroutes defined by the power system 336 illustrate the concept ofpriority more clearly. For example, route R1.7 includes a route priorityof 2 because the route includes the first genset branch switch 398, thegenset branch bus 393, and the second genset branch switch 402 in orderto couple the first load bus 396 with the second utility 344.Alternatively, the route R1.8 includes a route priority of 1 because thepath is more direct between the first load bus 396 and the secondutility 344.

In the example shown in FIGS. 7 and 8 , the load bus router (e.g., theload bus router 134 discussed above) for each of the routes is allocatedto the associated load bus. That is to say, all routes ending on thefirst load bus 396 will be controlled by the load bus router associatedwith the first load bus 396 and all routes ending on the second load bus400 will be controlled by the load bus router associated with the secondload bus 400. One tenant of the sequencing control concept is that thereare routes connecting load busses and sources and that by activating ordeactivating a route, the switches on the route act to close or open.The switch logic takes care of controlling each individual switch (e.g.,to close according to a desired sequencing including a synchronizerservice request, a sync check, a dead bus close, etc.). The load busrouter decides which routes to activate or deactivate based on thecurrent source object selections. It will also determine what type oftransition (open transition, closed transition, etc.) is occurring andmay be involved in sequencing of the transition. The load bus routerfunctionality can be owned by or allocated to a load bus object andoperate as a floating principal function that could run in multiplecontrollers for redundancy. Note that the load bus router acts betweenload buses and sources. In applications where the load bus hasindividual load feeders below it, the distributed load add/shed featuremay separately take care of managing the connecting/disconnecting of theload circuits. In some embodiments, the loads themselves will beconnected and disconnected via the router function 134.

Individual source objects or load objects may request a route hold tomaintain a particular route in the connected state. If no other higherpriority reasons exist to deactivate that route, the route hold will begranted and the route with remain held active until the load object orsource object indicate it is no longer needed. A source may request aroute hold to ensure a minimum length of run time with load to preventadverse life/maintenance effects for example. A load object may requesta route hold to ensure it remains powered continuously for some minimumamount of time to recharge UPS batteries for example. A load object mayalso request a route hold if the system is configured to require manualintervention for a retransfer.

In some embodiments, the default route priority is simply the sum of thenumber of switches in the route. If there are multiple routes to asource, the algorithm to choose a route to call will depend on a numberof things, including the route priority. Other factors in routeselection may include the current state of the system and switches. Forexample, if there are more open switches on the path set with a higherpriority (i.e., a lower priority number) than on the path with a lowerpriority (i.e., a higher priority number), it may make sense to use thelower priority path having the higher priority number (e.g., selectingroute R1.7 instead of route R1.8). In some embodiments, the followingfactors may be included in route selection: 1) use least open switchesto select route, or 2) use the number of switches in the path, or 3) usea custom priority configuration, etc. Failure modes can also beconsidered. If a higher priority path having a lower priority number isunable to connect, the power system may revert to the next lowerpriority path having a higher priority number assuming other conditionsallow for the route to be activated (e.g., connection of the route doesnot create any source or operational mode conflicts).

The load bus router(s) may also resolve conflicts that can occur. Ingeneral, conflicts are resolved by a clear definition of priorities.Sources have priorities, loads have priorities, routes can havepriorities (e.g., the route priority number if redundant paths exist),and reasons for operating have a hierarchy of priority. In someembodiments, the load bus router may address conflicts. For example, theload bus router may inhibit loops (i.e., parallel paths) that couldoccur if a system has redundant routes and multiple load bussesrequesting routes. Some loops might be allowed for a fast overlaptransition between routes.

The use of routes allows for increased control efficiency and improvesthe reliability of configuration and commissioning of power systems.

Section 4—Signal Flow

Operation of power systems according to this disclosure identifydiscrete objects on a system architecture and authority for controllingoperation of the system can be distributed throughout the variouscontrollers of the power system. The specifics of distributed controlwill be discussed in further detail below. FIG. 9 shows a high levellogic scheme 440 for controlling power delivery from the source objectsto load bus objects using route level functions to control the routepathways discussed above. As used herein, the phrase “route levelfunction” refers to functions performed by objects of a power system toachieve coordinated functionality of the power system. Route levelfunctions of each object are discussed in further detail below. Ingeneral, a source manager is tasked with indicating to the load busrouter which sources should be connected to the load bus(es). The loadbus router activates and deactivates routes to the indicated sources. Aswitch action processing function decides for each switch whether toopen, close, or do nothing depending on the routes that are active orinactive. The following description refers to functional blocks (e.g.,route level functions) that interact to enact control of the powersystem.

As shown in FIG. 9 , a source manager 444 is responsible for monitoringthe status of all sources, selecting sources, and insuring there isadequate capacity. One of the primary outputs of the source manager 444is a load bus source list 448 which lists the sources that should beconnected to the load bus (i.e. a desired source connection list). Asource compatibility matrix 446 defines what types of transitions areallowed between two sources, and effectively which sources can beparalleled. For example, a system with N sources, there are½*(N{circumflex over ( )}2−N) combinations for which to definecompatibility. The source compatibility matrix 446 is used by both thesource manager 444 and a load bus router 452. In some embodiments, thesource manager 444 uses the source compatibility matrix 446 to avoidselecting source combinations that are not allowed.

If load bus source list 448 does not match the currently connectedsources (or those sources expected to be connected) to the load bus, theload bus router 452 diagnoses the difference and determines the nextstep in the sequence toward getting the currently connected sources tomatch the load bus source list 448. There are several possible scenariosunder which the currently connected sources and the load bus source list448 do not match. For example: 1) a source has failed and is beingreplaced with a different source; 2) extra capacity is needed, so asource is being added; or 3) a test transfer with load was initiated.Once the next step is determined, the load bus router 452 updates twoprimary outputs, an active route list 456 and a transition type 460. Theactive route list 456 contains only those routes that should beconnected (i.e. the desired routes). The transition type 460 is receivedby a switch action processing function 464 which then determines anychanges to the active route list 456 that are required based on thetransition type 460. Values of the transition type 460 include: None,Open Transition, Hard Closed Transition, Soft Closed Transition, orExtended Parallel. In some embodiments, one switch action processingfunction 464 lives in each switch controller. In some embodiments, therecan be multiple instances of the switch action processing function 464(e.g., one per switch object, multiple per controller object, etc.), sothat in total there exists one instance of the switch action processingfunction 464 per switch in the system. Additionally, in someembodiments, the load bus router 452 uses the source compatibilitymatrix 446 when a complete source transfer is being requested. The loadbus router 452 checks the source compatibility matrix 446 for allinvolved combinations of sources and will select the lowest commondenominator for the transition type. In some embodiments, the sourcemanager 444 can override the source compatibility matrix 446 result andpick a lesser transition type via a reason output signal. The optionsfor source compatibility matrix 446 settings can include: OT=OpenTransition−sources cannot be paralleled; HCT=Hard ClosedTransition−sources can only be paralleled for <100 ms; SCT=Soft ClosedTransition−sources can be paralleled to accomplish ramped load transfer(max parallel time applies); and/or EP=Extended Parallel−sources can beparalleled indefinitely. Other options or details of the settings may bechanged depending on system implementation.

Based on the active route list 456, the switch action processingfunction 464 decides whether an associated switch should close, open, orremain in its current state. The switch action processing function 464knows which routes it “lives” on (i.e. which routes the switch is a partof) which it gets from a system routing table 468.

When the switch action processing function 464 determines that a switchshould close the switch action processing function 464 first determinesif the switch is positioned on an active route and currently open. Ifthe switch is on an active route and open, then the switch actionprocessing function 464 needs to take appropriate action to get theswitch safely closed. A bus state 472 on each side of the switchdetermines what is possible. Closure can happen only under conditions ofthe bus states 472 of Available-Dead, Available-Available or Dead-Dead.Once the bus state 472 conditions are met, further conditions arerequired such as: getting exclusive dead bus closing permission 476,meeting sync check conditions 480, and checking for adequate upstreamcapacity 484 to support downstream load. Once the conditions are inplace, the switch is requested to close and the mechanism specific logic(e.g. an automatic transfer switch (ATS), a breaker, a contactor, etc.)in a power switch control 488 acts to close the switch.

When the switch action processing function 464 determines that a switchshould open the switch action processing function 464 first determinesif the switch is closed and is not positioned on any active routes. Ifthe transition type 456 is Extended Parallel or Soft Closed Transition,the switch is commanded to open via the power switch control 488 after aload ramping status 492 indicates that the load through the switch hascompleted ramping off. If the transition type 456 is Hard ClosedTransition or Open Transition, the switch is immediately commanded toopen.

A switch state 496 is determined by a switch state algorithm. Possibleswitch state 496 value include: Unknown, Open, Unable to Open, Closed,and Unable to Close. The switch state 496 is used in combination withthe active route list 456 and the system routing table 468 by the switchaction processing function 464 to determine whether to attempt to open,close or to do nothing with the switch.

A route state 500 of each route is determined by a route statealgorithm. Possible route states 500 include: Unknown, Disconnected,Unable to Disconnect, Connected, Unable to Connect. The route state 500is used by the load bus router 452 to select viable routes. If a routeis Unable to Connect, the load bus router 452 will choose the nexthighest priority route if one is available.

A synchronizer function 504 lives in or is allocated to sources whichhave the capability to adjust their voltage, frequency, and phase angleoutput in order to match that of another source (e.g., a genset). Theswitch action processing 464 will request this function when attemptingto close between two Live/Available sources.

Section 5.1—Controllers

As shown in FIG. 10 , a controller 508 represents a controller that isused by a power system within the control scheme 440. The controller 508may be separate from or included with at least one other controller in apower system. As discussed farther below, control distributions schemescontemplated herein allow computing power, redundancy, and generalcontrol computations to be executed within a single controller circuit,or shared across multiple controllers within the power system. Thefunction and structure of the controller 508 is described in greaterdetail in FIG. 10 .

Referring now to FIG. 10 , a schematic diagram of the controller 508 isshown according to an example embodiment. As shown in FIG. 10 , thecontroller 508 includes a processing circuit 512 having a processor 516and a memory device 520, a control system 524 having a circuit A 528, acircuit B 532, and a circuit C 536, and a communications interface 540.Generally, the controller 508 is structured to control operation of anassociated object and to act within the larger power routing controlscheme 440.

In one configuration, the circuit A 528, the circuit B 532, and thecircuit C 536 are embodied as machine or computer-readable media that isexecutable by a processor, such as processor 516. As described hereinand amongst other uses, the machine-readable media facilitatesperformance of certain operations to enable reception and transmissionof data. For example, the machine-readable media may provide aninstruction (e.g., command, etc.) to, e.g., acquire data. In thisregard, the machine-readable media may include programmable logic thatdefines the frequency of acquisition of the data (or, transmission ofthe data). The computer readable media may include code, which may bewritten in any programming language including, but not limited to, Javaor the like and any conventional procedural programming languages, suchas the “C” programming language or similar programming languages. Thecomputer readable program code may be executed on one processor ormultiple remote processors. In the latter scenario, the remoteprocessors may be connected to each other through any type of network(e.g., CAN bus, etc.).

In another configuration, the circuit A 528, the circuit B 532, and thecircuit C 536 are embodied as hardware units, such as electronic controlunits. As such, the circuit A 528, the circuit B 532, and the circuit C536 may be embodied as one or more circuitry components including, butnot limited to, processing circuitry, network interfaces, peripheraldevices, input devices, output devices, sensors, etc. In someembodiments, the circuit A 528, the circuit B 532, and the circuit C 536may take the form of one or more analog circuits, electronic circuits(e.g., integrated circuits (IC), discrete circuits, system on a chip(SOCs) circuits, microcontrollers, etc.), telecommunication circuits,hybrid circuits, and any other type of “circuit.” In this regard, thecircuit A 528, the circuit B 532, and the circuit C 536 may include anytype of component for accomplishing or facilitating achievement of theoperations described herein. For example, a circuit as described hereinmay include one or more transistors, logic gates (e.g., NAND, AND, NOR,OR, XOR, NOT, XNOR, etc.), resistors, multiplexers, registers,capacitors, inductors, diodes, wiring, and so on). The circuit A 528,the circuit B 532, and the circuit C 536 may also include programmablehardware devices such as field programmable gate arrays, programmablearray logic, programmable logic devices or the like. The circuit A 528,the circuit B 532, and the circuit C 536 may include one or more memorydevices for storing instructions that are executable by the processor(s)of the circuit A 528, the circuit B 532, and the circuit C 536. The oneor more memory devices and processor(s) may have the same definition asprovided below with respect to the memory device 520 and processor 516.In some hardware unit configurations, the circuit A 528, the circuit B532, and the circuit C 536 may be geographically dispersed throughoutseparate locations in the power system. Alternatively and as shown, thecircuit A 528, the circuit B 532, and the circuit C 536 may be embodiedin or within a single unit/housing, which is shown as the controller508.

In the example shown, the controller 508 includes the processing circuit512 having the processor 516 and the memory device 520. The processingcircuit 512 may be structured or configured to execute or implement theinstructions, commands, and/or control processes described herein withrespect to circuit A 528, the circuit B 532, and the circuit C 536. Thedepicted configuration represents the circuit A 528, the circuit B 532,and the circuit C 536 as machine or computer-readable media. However, asmentioned above, this illustration is not meant to be limiting as thepresent disclosure contemplates other embodiments where the circuit A528, the circuit B 532, and the circuit C 536, or at least one circuitof the circuit A 528, the circuit B 532, and the circuit C 536, isconfigured as a hardware unit. All such combinations and variations areintended to fall within the scope of the present disclosure.

The hardware and data processing components used to implement thevarious processes, operations, illustrative logics, logical blocks,modules and circuits described in connection with the embodimentsdisclosed herein (e.g., the processor 516) may be implemented orperformed with a general purpose single- or multi-chip processor, adigital signal processor (DSP), an application specific integratedcircuit (ASIC), a field programmable gate array (FPGA), or otherprogrammable logic device, discrete gate or transistor logic, discretehardware components, or any combination thereof designed to perform thefunctions described herein. A general purpose processor may be amicroprocessor, or, any conventional processor, or state machine. Aprocessor also may be implemented as a combination of computing devices,such as a combination of a DSP and a microprocessor, a plurality ofmicroprocessors, one or more microprocessors in conjunction with a DSPcore, or any other such configuration. In some embodiments, the one ormore processors may be shared by multiple circuits (e.g., circuit A 528,the circuit B 532, and the circuit C 536 may comprise or otherwise sharethe same processor which, in some example embodiments, may executeinstructions stored, or otherwise accessed, via different areas ofmemory). Alternatively or additionally, the one or more processors maybe structured to perform or otherwise execute certain operationsindependent of one or more co-processors. In other example embodiments,two or more processors may be coupled via a bus to enable independent,parallel, pipelined, or multi-threaded instruction execution. All suchvariations are intended to fall within the scope of the presentdisclosure.

The memory device 520 (e.g., memory, memory unit, storage device) mayinclude one or more devices (e.g., RAM, ROM, Flash memory, hard diskstorage) for storing data and/or computer code for completing orfacilitating the various processes, layers and modules described in thepresent disclosure. The memory device 520 may be communicably connectedto the processor 516 to provide computer code or instructions to theprocessor 516 for executing at least some of the processes describedherein. Moreover, the memory device 520 may be or include tangible,non-transient volatile memory or non-volatile memory. Accordingly, thememory device 520 may include database components, object codecomponents, script components, or any other type of informationstructure for supporting the various activities and informationstructures described herein.

The circuit A 528 is responsible for operation of an associated machineor object 544. For example, the circuit A 528 may control operation of agenset, an aftertreatment system, a battery bank, a switch, or any otherobject type. Control actions determined by the circuit A 528 arecommunicated to the object 544 via the communications interface 540.

The circuit B 532 is responsible for determining object controlallocated to the circuit B 532. In power systems that utilizedistributed control, the circuit B 532 may be in communication withother controllers 548 and/or sensors 552 to determine what objects fallunder the direction and control of the controller 508.

The circuit C 536 is responsible for enacting the power routing control440 and communicates with external systems via the communicationinterface 540 to activate/deactivate routes and complete the otheractions of the power routing control scheme 440.

While various circuits with particular functionality are shown in FIGS.9 and 10 , it should be understood that the controller 508 may includeany number of circuits for completing the functions described herein.For example, the activities and functionalities of the circuit A 528,the circuit B 532, and the circuit C 536 may be combined in multiplecircuits or as a single circuit. Additional circuits with additionalfunctionality may also be included. Further, the controller 508 mayfurther control other activity beyond the scope of the presentdisclosure. In some embodiments, the circuits described herein mayinclude one or more processing circuits comprising one or more memorydevices coupled to one or more processors, the one or more memorydevices configured to store instructions thereon that, when executed bythe one or more processors, cause the one or more processors to performthe operations performed herein and described with reference tocircuits.

As mentioned above and in one configuration, the “circuits” may beimplemented in machine-readable medium for execution by various types ofprocessors, such as the processor 516 of FIG. 10 . An identified circuitof executable code may, for instance, comprise one or more physical orlogical blocks of computer instructions, which may, for instance, beorganized as an object, procedure, or function. Nevertheless, theexecutables of an identified circuit need not be physically locatedtogether, but may comprise disparate instructions stored in differentlocations which, when joined logically together, comprise the circuitand achieve the stated purpose for the circuit. Indeed, a circuit ofcomputer readable program code may be a single instruction, or manyinstructions, and may even be distributed over several different codesegments, among different programs, and across several memory devices.Similarly, operational data may be identified and illustrated hereinwithin circuits, and may be embodied in any suitable form and organizedwithin any suitable type of data structure. The operational data may becollected as a single data set, or may be distributed over differentlocations including over different storage devices, and may exist, atleast partially, merely as electronic signals on a system or network.

While the term “processor” is briefly defined above, the term“processor” and “processing circuit” are meant to be broadlyinterpreted. In this regard and as mentioned above, the “processor” maybe implemented as one or more general-purpose processors, applicationspecific integrated circuits (ASICs), field programmable gate arrays(FPGAs), digital signal processors (DSPs), or other suitable electronicdata processing components structured to execute instructions providedby memory. The one or more processors may take the form of a single coreprocessor, multi-core processor (e.g., a dual core processor, triplecore processor, quad core processor, etc.), microprocessor, etc. In someembodiments, the one or more processors may be external to theapparatus, for example the one or more processors may be a remoteprocessor (e.g., a cloud based processor). Alternatively oradditionally, the one or more processors may be internal and/or local tothe apparatus. In this regard, a given circuit or components thereof maybe disposed locally (e.g., as part of a local server, a local computingsystem, etc.) or remotely (e.g., as part of a remote server such as acloud based server). To that end, a “circuit” as described herein mayinclude components that are distributed across one or more locations.

Embodiments within the scope of the present disclosure include programproducts comprising machine-readable media for carrying or havingmachine-executable instructions or data structures stored thereon. Suchmachine-readable media can be any available media that can be accessedby a general purpose or special purpose computer or other machine with aprocessor. By way of example, such machine-readable media can compriseRAM, ROM, EPROM, EEPROM, or other optical disk storage, magnetic diskstorage or other magnetic storage devices, or any other medium which canbe used to carry or store desired program code in the form ofmachine-executable instructions or data structures and which can beaccessed by a general purpose or special purpose computer or othermachine with a processor. Combinations of the above are also includedwithin the scope of machine-readable media. Machine-executableinstructions include, for example, instructions and data which cause ageneral purpose computer, special purpose computer, or special purposeprocessing machines to perform a certain function or group of functions.

Section 5.2—Controller Allocation

Controllers are typically dedicated to one machine. In some cases theymay support multiple machines. One concept contemplated herein is foreach power system object instance in a power system to be “owned” by acontroller, typically the one most directly associated with the object(i.e. has some IO associated with the object). In some cases, an objectwill have a copy or a duplicate control running in multiple controllersand providing redundancy using a floating principal model of distributedcontrol for functions that need principal control.

The object model discussed above enables application flexibility. Forsome power systems there will be more than one way to assign controllersto objects. This may be by conscious choice in the design of the powersystem, or due to the machines involved. In some embodiments, onecontroller could perhaps handle four switches if no load monitoring wasrequired for each load, otherwise it may require one controller per oneor two switches.

In a classic ATS+Genset system, there are two controllers with objectallocation as shown in FIG. 11 . A power system 556 includes a utility560 that provides grid power (e.g., provides alternating current (AC))connected to a utility source bus 564, and a genset 568 that provides ACpower to a genset bus 572. The utility source bus 564 and the genset bus572 are connected to an automatic transfer switch (ATS) switch 576. TheATS 576 is also connected to a load bus 580. The automatic transferswitch 576 can be arranged or structured to provide power from one ofthe utility bus 564 or the genset bus 572 to the load bus 580. A load584 is connected to the load bus 580 and consumes power provided by theutility 560 or the genset 568. The power system 556 also includes agenset controller 588 and a switch controller 592. The genset controller588 is primarily associated with the genset 568 and controls theoperation of the genset 568. The switch controller 592 is primarilyassociated with the ATS 576.

As shown in FIG. 12 , the objects of the power system 556 are allocatedto either the genset controller 588, the ATS controller 592, or both.The only allocation overlap in the power system 556 is on the genset bus572 (BG1). The overlap occurs because both the genset controller 588(C1) and the ATS controller 592 (C2) have sensing of the genset bus 572(BG1). Therefore, the object based power routing control schemesdiscussed above would be implemented for the genset 568 and the gensetbus 572 on the genset controller 588, and the object based power routingcontrol schemes would be implemented for the remaining objects on theATS controller 592.

As shown in FIG. 13 , a breaker-based, single transfer pair, singlegenset power system 596 includes a utility 600 that provides grid power(e.g., provides alternating current (AC)) connected to a utility sourcebus 604, and a genset 608 that provides AC power to a genset bus 612.The utility source bus 604 is connected to a utility source breaker 616and the genset bus 612 is connected to a genset breaker 620. Breakersare a switch type object. The utility source breaker 616 and the gensetswitch 620 are connected to a load bus 624, and a load 628 is connectedto the load bus 624. A single controller 632 (e.g., a genset controller)manages the whole power system 596 and thus has all the IO necessary tointerface to all five power system objects and will own all thefunctions related to those objects as shown in the allocation chart ofFIG. 16 .

As shown in FIG. 14 , a power system 596′ is similar to the power system596 of FIG. 13 and is labeled with components in prime numbers. Thepower system 596′ includes two controllers, a genset controller 636 anda utility breaker controller 640. This may come about because theutility breaker 616′ is located far away from the genset 608′ and thegenset breaker 620′. One advantage of the power system 596′ is that thestate of the load bus 624 (LB1) can be known and measured. As shown inFIG. 16 , the genset 608′, the genset breaker 620′, the load bus 624′,the genset bus 612′, and the load 628′ are allocated to the gensetcontroller 636. The utility 600′, the utility breaker 616′, the load bus624′, the utility bus 604′, and the load 628′ are allocated to theutility breaker controller 640.

As shown in FIG. 15 , a power system 596″ is similar to the power system596 of FIG. 13 and is labeled with components in double prime numbers.The power system 596″ includes three controllers, a genset controller644, a utility breaker controller 648, and a genset breaker controller652. This arrangement may be desirable because the utility breaker 616″and genset breaker 620″ are located far away from the genset 608″ andone another. As shown in FIG. 16 , the genset 608″ and the genset bus612″ are allocated to the genset controller 636. The utility 600″, theutility breaker 61′″, the load bus 624″, the utility bus 604″, and theload 628″ are allocated to the utility breaker controller 648. Thegenset breaker 620″, the load bus 624″, the genset bus 612″, and theload 628″ are allocated to the genset breaker controller 652.

As shown in FIG. 17 , a power system 190′ similar to the power system190 discussed above with respect to FIG. 4 is shown and labeled withobjects in the prime series. FIG. 17 also illustrates the allocation ofobjects to each controller 294′, 298′, 302′, 306′, 310′, 314′ inaddition to illustrating communication pathways. For example, the firstgenset controller 294′ receives information from the genset branch bus250′, the first genset bus 266′, and the first genset switch 214′, andalso provides information or control signals to the first genset switch214′. Communication arrows are not provided for the second gensetcontroller 298′ and the third genset controller 302′ to provide betterclarity of the figure. FIG. 17 also shows how the load bus routerfunction is shared between the utility switch controller 306′, thegenset branch switch controller 310′, and the load bus controller 314′.Similarly, FIG. 17 shows that the load sharing function is distributedbetween the first genset controller 294′, the second genset controller298′, and the third genset controller 302′. FIG. 18 shows the allocationof objects in the power system 190′.

Section 5.3—Object and Functional Realization

There are different methods that can be used to realize the objects inthe controllers of the power systems discussed above. A power systemobject within this disclosure is a container for functionality relatedto that object that operates at the level of power system control.

One method of object realization includes an embedded softwareapplication for a controller that is hard-coded (e.g., compiled) with afixed (e.g., a maximum) number of each type of object along with a fullset of functions that each object contains. For example, a controllercould support up to two source objects, three bus objects, two switchobjects, and two load objects. In some embodiments, a controller couldsupport or be associated with more or less objects. The available objectoptions can be left unused if desired. For example, some installationsmay not require the maximum number of available objects. Which of theavailable object instances in a controller were used would be set atcommissioning or configuration time.

In another method, a controller has a more sophisticated operatingsystem and can instantiate objects at run time only as needed.

The object based approach allows for improved activation andconfiguration via a setup tool. The controllers with a power system allinclude the same object/functional software code which is thenconfigured to define which objects/functions are needed, which objects acontroller is responsible for (i.e., allocation), where the objects liein the system one-line topology (i.e., the route map or table), and somefurther user tailoring of behavior via various other settings (e.g.,power output of a source, time limitations, capacity, etc.). Acomputer-based setup tool can be used to define and configure the powersystem. The setup tool can include a palette library of all possiblesystem objects and their variants. The user selects the objects from thelibrary, drags them onto the drawing area and draws up the one-linetopology for their power system. Once the user has drawn the powersystem and included where the controllers are located, each object isgiven an identity and other relevant settings by the user. The setuptool is then able to derive the system routing table. Once the systemrouting table is generated, the setup tool connects into a power systemnetwork that the controllers are on and sends the configuration data toeach of the controllers. Once the configuration data is uploaded to thecontrollers, the one-line topology and object based control isinitiated.

In this scheme, the object-oriented approach is used in the tool to drawthe one-line topology, set all the needed attributes for each object,and then automatically connect to the system and download theappropriate settings to all controllers from a single point ofconnection. The tool includes a palette library of all the supportedpower system objects.

In typical genset and microgrid controls, genset scheduling, powerrouting, transfer control, and load shed are typically hand coded intothe controllers during design and configuration simulation by highlytrained and experienced personnel, often requiring extensive testing toconfirm proper operation of the microgrid and sequencing for systemstability. Designs can often not be repurposed to other sites orimplementations and any later changes or updates to the microgrid systemcan also require the same level of design and testing, leading todifficulty in programming, configuration, and a lack of systemredundancy.

The tool proposes attributes for each object and allows alteration ofthe attributes by the user/designer. The tool automatically connects tothe system and downloads the appropriate settings to all controllersfrom a single point of connection to the microgrid so that there is noneed to go system to system hand configuring controllers. The toolsupports the commissioning process and simulation and/or testing of theresulting design.

Section 6.1—Centralized Control

The power systems discussed above operate on an object based frameworkthat provides communication and cooperation between objects to implementan elegant control scheme that improves the ease and reliability ofcommissioning. In this section, various control schemes are discussedthat can be implemented within the framework of the power systemsdiscussed above.

As shown in FIG. 19 , a centralized control scheme 656 includes onecontroller, traditionally called the master controller 660 that isresponsible for telling other controllers 664 what to do. The othercontrollers 664 are traditionally called slave controllers. The mastercontroller 660 will collect all necessary inputs from the othercontrollers 664 and itself, then run its algorithm (e.g., functions) andproduce outputs which then direct the actions of the other controllers664. The operation of the power system is entirely dependent on themaster controller 660.

As shown in FIG. 20 , a centralized control with redundant controllerscheme 668 includes a master controller 672 and a backup mastercontroller 676 is added to provide redundancy in case the mastercontroller 672 fails. Typically, both the master controller 672 and thebackup 676 execute the same code concurrently and function to check eachother. One is designated the primary master 672 and the other is thesecondary master 676. If the primary master 672 fails, the secondarymaster 676 will immediately step in and take over control of othercontrollers 680. This method can eliminate the single-point failurevulnerability of the centralized control scheme 656.

In FIGS. 19 and 20 , the lines connecting master and slave controllersindicate that only the master has any communication with the slaves. Theslave controllers do not communicate with one another. Communication caninclude the transfer of information and/or signals over a hardwiredarchitecture, using communications links, or another communicationsystem.

Section 6.2—Distributed Control

Distributed control within this disclosure refers to a control schemethat does not rely on a single controller for the operation of theentire power system. That is, loss of a single controller, whilepossibly causing degraded operation of the power system, will not renderthe power system completely inoperable. FIGS. 21-25 depict threedistributed control schemes that together with the object based approachcan build a robust and redundant distributed control power system.

Section 6.3—Floating Principal Control

As shown in FIG. 21 , a floating principal control scheme 684 includesmultiple controllers 688 that are each capable of performing aparticular system function, but the function is such that it needs to beperformed by only one “brain” or action controller at any given time.That is, there exists a form of what one might call centralized control,if only virtually for individual tasks or functions. The actioncontroller that is currently in the role of performing the function iscalled the principal controller 692. The other controllers 688 which arecapable, but not currently the active principal controller 692 arecalled participant controllers. If at any time the principal controller692 fails or is otherwise unable to perform its duties for the powersystem, one of the participant controllers seamlessly steps in and takesover the role of principal controller 692. This behavior is described asa floating principal in that the principal can float to any controller688 capable of that function.

Each controller 688 currently in the role of participant for aparticular system function has three options for how to handle thesystem function. First, it can refuse to execute the function and onlystart running the function when the controller 688 becomes the principalcontroller 692. Execution refusal is done if there is no need forseamlessness when the controller 688 takes on the role of principalcontroller 692. Second, the controller 688 can asynchronously (to thecurrent principal controller 692) run the function and compute outputseven though its outputs are not being used at present. In asynchronousoperation, if the controller 688 becomes the principal controller 692,the controller 688 will typically be within an execution iteration ofbeing in the same state with the same outputs as the former principalcontroller 692. Third, the controller 688 can operate lock-step insynchronicity with the principal controller 692 so that any take-over iscompletely seamless.

As shown in FIG. 22 , the current principal controller 692 collects allinputs from all the participant controllers 688 and itself. Then theprincipal controller 692 computes outputs/commands for delivery to allparticipant controllers 688 and itself. Each participant controller 688may be doing exactly the same thing as the principal controller 692,except the algorithm outputs of the participant controllers 688 are notbeing used.

Selection of the principal controller 692 can be determinedautomatically between the controllers in the power system. In someembodiments, each controller 688 includes a unique controller or objectID and the controller 688 with the lowest object ID number is the chosenas the principal controller 692.

Section 6.4—Fully Distributed Control

Some power system functions lend themselves to a fully distributed modelof control rather than principal/participant. As shown in FIG. 23 , in afully distributed control scheme 696, all controllers 700 that perform aparticular system function are equals. One characteristic that makesthem fully distributed is that each controller 700 determines its ownaction to take, rather than determining it also for others as in thecase of a principal controller in the floating principal control scheme684. The fully distributed control scheme 696 may also be called aself-determination approach.

As shown in FIG. 24 , the generalized case of information flow for thefully distributed control scheme 696 provides that each controller 700collects all the inputs needed and computes only the command/output foritself. FIG. 24 shows only what a single controller 700 is doing, buteach controller 700 is computing simultaneously.

Section 6.5—Redundant Control

While the floating principal control scheme 684 and the fullydistributed control scheme 696 do reduce the impact of single-pointcontroller failures on the power system control in many scenarios, thereis still the possibility that loss of a single controller can cause asignificant impact on the functioning of the power system. As shown inFIG. 25 , a redundant floating principal scheme 704 includes multiplecontrollers 708, each capable of acting as a principal controller 712.In addition, redundant controllers 716 are installed at key locations inthe power system topology. A scheme similar to the floating principalcontrol scheme 684 is then used to decide which controller 708 orredundant controller 716 is currently acting as a principal controller712.

In FIGS. 21, 23, and 25 , the lines between controllers are intended torepresent that each controller communicates with all other controllers.The generally circular representation simplifies the way the systemlooks, but connections between each controller to every other controllerare intended.

Section 6.6—Examples

Turning back to FIG. 17 , the power system 190′ includes bus objectsthat include the load bus router function which is configured as afloating principal type of function. The utility switch controller 306′,the load bus controller 314′, and the genset branch switch controller310′ all “own” or are allocated the load bus 258′ and therefore, any ofthem can be the principal controller for the load bus router function ofthe load bus 258′. Using a scheme that selects the controller with thelowest ID to be the principal controller, the utility switch controller306′ will be identified as the principal controller.

In some embodiments, the first genset controller 294′, the second gensetcontroller 298′, or the third genset controller 302′ could also beavailable as the principal controller for the load bus router function,but the principal controller for the load bus router function wouldadvantageously have voltage sensing of capabilities of the load bus258′. The only controllers which have voltage sensing of the load bus258′ are the utility switch controller 306′, the load bus controller314′, and the genset branch switch controller 310′. If each of thosecontrollers failed, no other controller could do the job of executingthe load bus router function. Thus, in practice, not all controllers areequal, and functions needing principal control may draw from varyingsubsets of all of the controllers in the power system (depending on thefunction).

Also shown in FIG. 17 is the load sharing function which lives in allsource objects and acts in a fully distributed manner. Each of the firstgenset controller 294′, the second genset controller 298′, or the thirdgenset controller 302′ own a source object. Each of these threecontrollers 294′, 298′, 302′ executes its instance of the load sharingfunction by consuming data from other controllers and itself, thencomputing the results for use by itself.

In a more specific example of the distributed control scheme, the goalof the load sharing function is to have each source equally share theload. The controller on each source publishes its current load valuedata. The first genset controller 294′ adds all the loads together forthe first genset 198′, the second genset 202′, and the third genset 206′and computes the average load. The first genset controller 294′ thencompares its current load value to the average load. If its current loadis less than the average load, it is not taking enough of the load. Thefirst genset controller 294′ will then act to increase the power outputof the first genset 198′. The second genset controller 298′ is doingthis same thing and determining its own needed correction, and the thirdgenset controller 302′ is also doing this. Thus, each is onlydetermining its own action, not actions that others need to take.

It is possible that a fully distributed or floating principal algorithmmay have multiple instances within a single controller. Referring to theabove fully distributed example, a single controller might own twosource objects, and thus have two separate instances of the load sharingfunction. This still means that each instance of the function operatesin a fully distributed way even though it occurs within a singlecontroller. Loss of that controller would result in loss of bothsources.

In the case of a floating principal function having two instances withina controller, there would be two participants capable of acting as thefloating principal within that one controller. If that controllerfailed, there would be two less participants in the pool for thatfunction.

As utilized herein, the terms “approximately,” “about,” “substantially”,and similar terms are intended to have a broad meaning in harmony withthe common and accepted usage by those of ordinary skill in the art towhich the subject matter of this disclosure pertains. It should beunderstood by those of skill in the art who review this disclosure thatthese terms are intended to allow a description of certain featuresdescribed and claimed without restricting the scope of these features tothe precise numerical ranges provided. Accordingly, these terms shouldbe interpreted as indicating that insubstantial or inconsequentialmodifications or alterations of the subject matter described and claimedare considered to be within the scope of the disclosure as recited inthe appended claims.

It should be noted that the term “exemplary” and variations thereof, asused herein to describe various embodiments, are intended to indicatethat such embodiments are possible examples, representations, orillustrations of possible embodiments (and such terms are not intendedto connote that such embodiments are necessarily extraordinary orsuperlative examples).

The term “coupled” and variations thereof, as used herein, means thejoining of two members directly or indirectly to one another. Suchjoining may be stationary (e.g., permanent or fixed) or moveable (e.g.,removable or releasable). Such joining may be achieved with the twomembers coupled directly to each other, with the two members coupled toeach other using one or more separate intervening members, or with thetwo members coupled to each other using an intervening member that isintegrally formed as a single unitary body with one of the two members.If “coupled” or variations thereof are modified by an additional term(e.g., directly coupled), the generic definition of “coupled” providedabove is modified by the plain language meaning of the additional term(e.g., “directly coupled” means the joining of two members without anyseparate intervening member), resulting in a narrower definition thanthe generic definition of “coupled” provided above. Such coupling may bemechanical, electrical, or fluidic. For example, circuit A communicably“coupled” to circuit B may signify that the circuit A communicatesdirectly with circuit B (i.e., no intermediary) or communicatesindirectly with circuit B (e.g., through one or more intermediaries).

References herein to the positions of elements (e.g., “top,” “bottom,”“above,” “below”) are merely used to describe the orientation of variouselements in the FIGURES. It should be noted that the orientation ofvarious elements may differ according to other exemplary embodiments,and that such variations are intended to be encompassed by the presentdisclosure.

Although the figures and description may illustrate a specific order ofmethod steps, the order of such steps may differ from what is depictedand described, unless specified differently above. Also, two or moresteps may be performed concurrently or with partial concurrence, unlessspecified differently above. Such variation may depend, for example, onthe software and hardware systems chosen and on designer choice. Allsuch variations are within the scope of the disclosure. Likewise,software implementations of the described methods could be accomplishedwith standard programming techniques with rule-based logic and otherlogic to accomplish the various connection steps, processing steps,comparison steps, and decision steps.

It is important to note that the construction and arrangement of powersystems, objects, and control schemes as shown in the various exemplaryembodiments is illustrative only. Additionally, any element disclosed inone embodiment may be incorporated or utilized with any other embodimentdisclosed herein. Further, elements from one section described above(e.g., Section 1.4—Load Objects) may be incorporated or utilized withany other elements described in separate sections (e.g., Section4—Signal Flow). For example, the object parameters and functions of theexemplary embodiment described with respect to FIG. 3 (e.g., Section1—Objects) may be incorporated in the power systems and objects of theexemplary embodiment described with respect to FIGS. 4, 7, 9, 10, 11,13-15, and 17 (e.g., Section 5.2—Controller Allocation). Although onlyone example of an element from one embodiment that can be incorporatedor utilized in another embodiment has been described above, it should beappreciated that other elements of the various embodiments may beincorporated or utilized with any of the other embodiments disclosedherein.

What is claimed is:
 1. A system, comprising: a first controllerstructured to control a first power system object located on a firstroute of a power system; and a second controller structured to control asecond power system object located on a second route of the powersystem, wherein the first controller and the second controller are bothstructured to generate an active route list and determine route statesassociated with the first route or the second route based on a switchaction processing function, wherein the first controller and the secondcontroller are both structured to perform a route level functionincluding coordination of actions of the first power system object andthe second power system object, and wherein the first controller is aprincipal controller and the second controller is a participantcontroller.
 2. The system of claim 1, wherein the participant controlleris inhibited from performing the route level function.
 3. The system ofclaim 1, wherein the participant controller computes outputs of theroute level function asynchronously from the principal controller andthe outputs of the participant controller are not used to coordinateactions of the first power system object and the second power systemobject.
 4. The system of claim 1, wherein the participant controllercomputes outputs of the route level function in synchronicity with theprincipal controller and the outputs of the participant controller arenot used to coordinate actions of the first power system object and thesecond power system object.
 5. The system of claim 1, wherein the routelevel function performed by the principal controller receives inputsfrom the principal controller and the participant controller.
 6. Thesystem of claim 1, wherein the second controller performs the routelevel function in the event the first controller is unable to performthe route level function.
 7. The system of claim 1, wherein the firstcontroller defines a first object ID and the second controller defines asecond object ID that defines a higher value than the first object ID,and wherein the principal controller is selected based on a lowestavailable object ID.
 8. The system of claim 1, further comprising athird controller structured to control the first power system object,wherein the third controller is a redundant controller structured toperform the route level function including coordination of actions ofthe first power system object and the second power system object.
 9. Thesystem of claim 1, wherein the first power system object is arranged onboth the first route and the second route.
 10. A system, comprising: afirst controller structured to control a first power system objectlocated on a first route of a power system, and to receive route levelinputs and perform a route level function including coordination ofactions of the first power system object; and a second controllerstructured to control a second power system object located on a secondroute of the power system, and to receive the route level inputs andperform the route level function including coordination of actions ofthe second power system object, wherein the first route is based on aone-line topology and includes a source object and a first bus object,wherein the second route is based on the one-line topology and includesthe source object and a second bus object, wherein the route levelinputs including information regarding the first route and the secondroute, and the route level function affects operation of the first routeand the second route.
 11. The system of claim 10, wherein the firstcontroller is structured to receive only route level inputs related tocoordination of actions of the first power system object.
 12. The systemof claim 10, wherein the first controller and the second controllercompute the route level function synchronously or asynchronously. 13.The system of claim 10, further comprising a third controller structuredto control the first power system object, wherein the third controlleris a redundant controller structured to perform the route levelfunction.
 14. The system of claim 10, wherein the first controller is afirst genset controller and the second controller is a second gensetcontroller, and wherein the route level function includes a load sharingfunction.
 15. The system of claim 14, wherein the first gensetcontroller is structured to: publish a first load value data, receive asecond load value data from the second genset controller, compute anaverage load based on the first load value data and the second loadvalue data, and control power output of the first power system object toachieve the average load.
 16. A system, comprising: a first controllerstructured to control a first power system object of a power system,determine a plurality of point-to-point routes based on a one-linetopology, assign a route identifier to each of the plurality of routes,and determine a route priority for each of the plurality of routes andassociated with each route identifier; a second controller structured tocontrol a second power system object of the power system, wherein thefirst controller and the second controller are both structured toperform a first route level function that includes coordination ofactions of the first power system object and the second power systemobject, and wherein the first controller is a principal controller andthe second controller is a participant controller; a third controllerstructured to control a third power system object of the power system,and to receive route level inputs and perform a second route levelfunction including coordination of actions of the third power systemobject; and a fourth controller structured to control a fourth powersystem object of the power system, and to receive the route level inputsand perform the second route level function including coordination ofactions of the fourth power system object, wherein the first route levelfunction and the second route level function are based on the routepriority.
 17. The system of claim 16, wherein the participant controlleris inhibited from performing the first route level function.
 18. Thesystem of claim 16, wherein the participant controller computes outputsof the first route level function asynchronously from the principalcontroller and the outputs of the participant controller are not used tocoordinate actions of the first power system object and the second powersystem object.
 19. The system of claim 16, wherein the participantcontroller computes outputs of the first route level function insynchronicity with the principal controller and the outputs of theparticipant controller are not used to coordinate actions of the firstpower system object and the second power system object.
 20. The systemof claim 16, further comprising a redundant controller structured toperform at least one of the first route level function or the secondroute level function.
 21. The system of claim 16, wherein any of thefirst controller, the second controller, the third controller, or thefourth controller can be structured on a shared circuit.